4 papers · 1 filter
Large-Language-Model-Guided State Estimation for Partially Observable Task and Motion Planning
Yoonwoo Kim, Raghav Arora, Roberto Martín-Martín +3
Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partia…
Effort Allocation for Deadline-Aware Task and Motion Planning: A Metareasoning Approach
Yoonchang Sung, Shahaf S. Shperberg, Qi Wang +1
In robot planning, tasks can often be achieved through multiple options, each consisting of several actions. This work specifically addresses deadline constraints in task and motio…
PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation
Mingyo Seo, Yoonyoung Cho, Yoonchang Sung +3
We introduce a learning-guided motion planning framework that generates seed trajectories using a diffusion model for trajectory optimization. Given a workspace, our method approxi…
Asynchronous Task Plan Refinement for Multi-Robot Task and Motion Planning
Yoonchang Sung, Rahul Shome, Peter Stone
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In part…